Title :
Modelling and control of non-holonomic wheeled mobile robots
Author :
D´Andréa-Novel, B. ; Bastin, G. ; Campion, G.
Author_Institution :
Centre d´´Autom., Ecole des Mines de Paris, Fontainebleau, France
Abstract :
A general dynamical model is derived for three-wheel mobile robots with nonholonomic constraints by using a Lagrange formulation and differential geometry. It is shown that a static state feedback allows one to reduce the dynamics of the system to a form in which stabilizing input-output linearizing control is possible
Keywords :
dynamics; feedback; linearisation techniques; mobile robots; stability; Lagrange formulation; differential geometry; dynamical model; dynamics; input-output linearizing control; modelling; nonholonomic constraints; stability; static state feedback; three-wheel mobile robots; Computational geometry; Constraint theory; Control systems; Lagrangian functions; Mechanical systems; Mobile robots; Robot kinematics; Solid modeling; State feedback; Wheels;
Conference_Titel :
Robotics and Automation, 1991. Proceedings., 1991 IEEE International Conference on
Conference_Location :
Sacramento, CA
Print_ISBN :
0-8186-2163-X
DOI :
10.1109/ROBOT.1991.131747
